Make it work again

CreatureControl/Runtime/Scripts/Creature.cs

@@ -256,9 +256,9 @@ namespace CreatureControl {
         }
 
         public float GetDistanceToGround(float maxDistance, out Transform ground, out Vector3 normal) {
-            normal = Physics.gravity.normalized;
+            normal = -Physics.gravity.normalized;
 
-            Vector3 rayDirection = -normal;
+            Vector3 rayDirection = normal;
 
             int layerMask = Physics.DefaultRaycastLayers;
             float distance = maxDistance;
@@ -275,8 +275,8 @@ namespace CreatureControl {
                     1 => transform.TransformDirection(Vector3.up),
                     _ => transform.TransformDirection(Vector3.forward),
                 };
-                Vector3 p1 = centerWorld + up * half - normal * maxDistance; // top point
+                Vector3 p1 = centerWorld + up * half + normal * maxDistance; // top point
-                Vector3 p2 = centerWorld - up * half - normal * maxDistance; // bottom point
+                Vector3 p2 = centerWorld - up * half + normal * maxDistance; // bottom point
 
                 // Debug.DrawRay(p1, 2 * maxDistance * -rayDirection, Color.magenta);
                 // Debug.DrawRay(p2, 2 * maxDistance * -rayDirection, Color.magenta);
@@ -284,7 +284,7 @@ namespace CreatureControl {
                 maxDistance += colliderToGround;
             }
             else {
-                Vector3 rayStart = this.transform.position + normal * maxDistance;
+                Vector3 rayStart = this.transform.position - normal * maxDistance;
                 // Debug.DrawRay(rayStart, 2 * maxDistance * rayDirection, Color.magenta);
                 hits = Physics.RaycastAll(rayStart, rayDirection, maxDistance * 2, layerMask, QueryTriggerInteraction.Ignore);
             }

NanoBrain/Editor/ClusterEditor.cs

@@ -88,7 +88,7 @@ namespace NanoBrain {
 
                 if (Application.isPlaying == false)
                     this.serializedBrain = new SerializedObject(this.prefab);
-                this.selectedOutput = this.currentCluster.outputs[0];
+                this.selectedOutput = this.currentCluster.defaultOutput;
                 this.currentNucleus = this.selectedOutput;
                 //this.currentCluster = this.currentNucleus.parent;
                 Rebuild(inspectorContainer);
@@ -375,7 +375,7 @@ namespace NanoBrain {
                                 bool disconnecting = GUILayout.Button("Disconnect", GUILayout.Width(80));
                                 if (disconnecting) {
                                     synapse.neuron.RemoveReceiver(this.currentNucleus);
-                                    this.prefab.GarbageCollection();
+                                    this.currentCluster.Refresh();
                                     anythingChanged = true;
                                 }
                                 EditorGUILayout.EndHorizontal();
@@ -517,35 +517,32 @@ namespace NanoBrain {
                 EditorGUILayout.EndHorizontal();
                 if (connecting) {
                     Nucleus nucleus = nuclei.ElementAt(selectedConnectNucleus);
-                    // Nucleus prefabNucleus = this.prefab.cluster.nuclei.ElementAt(selectedConnectNucleus);
                     if (nucleus is Cluster subCluster) {
                         subCluster.AddArrayReceiver(this.currentNucleus);
-                        // Cluster prefabSubCluster = prefabNucleus as Cluster;
                     }
                     else if (nucleus is Neuron neuron) {
                         neuron.AddReceiver(this.currentNucleus);
-                        // if (prefabNucleus is Neuron prefabNeuron)
-                        //     prefabNeuron.AddReceiver(this.currentPrefabNucleus);
                     }
+                    this.currentCluster.Refresh();
                 }
                 return connecting;
             }
 
-            protected virtual void DisconnectNucleus(Neuron nucleus) {
+            // protected virtual void DisconnectNucleus(Neuron nucleus) {
-                if (this.currentNucleus.parent.prefab == null)
+            //     if (this.currentNucleus.parent.prefab == null)
-                    return;
+            //         return;
-                Neuron currentNeuron = this.currentNucleus as Neuron;
+            //     Neuron currentNeuron = this.currentNucleus as Neuron;
-                string[] names = currentNeuron.synapses.Select(synapse => synapse.neuron.name).ToArray();
+            //     string[] names = currentNeuron.synapses.Select(synapse => synapse.neuron.name).ToArray();
-                int selectedIndex = -1;
+            //     int selectedIndex = -1;
-                selectedIndex = EditorGUILayout.Popup("Disconnect from", selectedIndex, names);
+            //     selectedIndex = EditorGUILayout.Popup("Disconnect from", selectedIndex, names);
-                if (selectedIndex >= 0 && selectedIndex < this.currentNucleus.parent.prefab.cluster.nuclei.Count) {
+            //     if (selectedIndex >= 0 && selectedIndex < this.currentNucleus.parent.prefab.cluster.nuclei.Count) {
-                    Synapse synapse = currentNeuron.synapses[selectedIndex];
+            //         Synapse synapse = currentNeuron.synapses[selectedIndex];
-                    synapse.neuron.RemoveReceiver(this.currentNucleus);
+            //         synapse.neuron.RemoveReceiver(this.currentNucleus);
 
-                    // synapse = currentNeuron.synapses[selectedIndex];
+            //         // synapse = currentNeuron.synapses[selectedIndex];
-                    // synapse.neuron.RemoveReceiver(this.currentPrefabNucleus);
+            //         // synapse.neuron.RemoveReceiver(this.currentPrefabNucleus);
-                }
+            //     }
-            }
+            // }
 
             protected virtual void DeleteNucleus(Nucleus nucleus) {
                 if (nucleus == null)

NanoBrain/Runtime/Scripts/Core/Cluster.cs

@@ -72,10 +72,11 @@ namespace NanoBrain {
         public Cluster(ClusterPrefab prefab, ClusterPrefab parent = null) {
             this.prefab = prefab;
             this.name = prefab.name;
-            this.parent.prefab = parent;
+            if (parent != null)
+                this.parent = parent.cluster;
 
-            if (this.parent.prefab != null)
+            // if (this.parent.prefab != null)
-                this.parent.prefab.cluster.nuclei.Add(this);
+            //     this.parent.prefab.cluster.nuclei.Add(this);
 
             ClonePrefab();
             _ = this.inputs;
@@ -773,9 +774,9 @@ namespace NanoBrain {
             }
 
             Neuron.Delete(nucleus);
-            int nucleusIx = this.nuclei.IndexOf(nucleus);
+            //int nucleusIx = this.nuclei.IndexOf(nucleus);
             this.nuclei.Remove(nucleus);
-            this.prefab.cluster.nuclei.RemoveAt(nucleusIx);
+            //this.prefab.cluster.nuclei.RemoveAt(nucleusIx);
             RefreshOutputs();
 
             return true;
@@ -908,6 +909,10 @@ namespace NanoBrain {
 
         #endregion Update
 
+        public void Refresh() {
+            RefreshOutputs();
+        }
+
     }
 
 }

NanoBrain/Runtime/Scripts/Core/Neuron.cs

@@ -105,7 +105,7 @@ namespace NanoBrain {
         /// <param name="inputValue"></param>
         public virtual void SetBias(Vector3 inputValue) {
             this.bias = inputValue;
-            this.parent.UpdateFromNucleus(this);
+            this.parent?.UpdateFromNucleus(this);
         }
 
         /// <summary>
@@ -623,10 +623,9 @@ namespace NanoBrain {
         #endregion Receivers
 
         public override void ProcessStimulus(Vector3 inputValue) {
-            ;
             this.lastUpdate = Time.time;
             this.bias = inputValue;
-            this.parent.UpdateFromNucleus(this);
+            this.parent?.UpdateFromNucleus(this);
         }
     }
 

NanoBrain/Runtime/Scripts/ScriptableObjects/ClusterPrefab.cs

@@ -101,38 +101,38 @@ namespace NanoBrain {
             // this.nuclei.RemoveAll(nucleus => visitedNuclei.Contains(nucleus) == false);
         }
 
-        public void MarkNuclei(HashSet<Nucleus> visitedNuclei, Nucleus nucleus) {
+        // public void MarkNuclei(HashSet<Nucleus> visitedNuclei, Nucleus nucleus) {
-            if (nucleus is null)
+        //     if (nucleus is null)
-                return;
+        //         return;
 
-            if (nucleus.parent != null && nucleus.parent.prefab != this)
+        //     if (nucleus.parent != null && nucleus.parent.prefab != this)
-                visitedNuclei.Add(nucleus.parent);
+        //         visitedNuclei.Add(nucleus.parent);
-            else
+        //     else
-                visitedNuclei.Add(nucleus);
+        //         visitedNuclei.Add(nucleus);
-            if (nucleus is Neuron neuron) {
+        //     if (nucleus is Neuron neuron) {
-                if (neuron.synapses != null) {
+        //         if (neuron.synapses != null) {
-                    HashSet<Synapse> visitedSynapses = new();
+        //             HashSet<Synapse> visitedSynapses = new();
-                    foreach (Synapse synapse in neuron.synapses) {
+        //             foreach (Synapse synapse in neuron.synapses) {
-                        if (synapse != null && synapse.neuron != null) {
+        //                 if (synapse != null && synapse.neuron != null) {
-                            visitedSynapses.Add(synapse);
+        //                     visitedSynapses.Add(synapse);
-                            if (synapse.neuron is Nucleus synapse_nucleus)
+        //                     if (synapse.neuron is Nucleus synapse_nucleus)
-                                MarkNuclei(visitedNuclei, synapse_nucleus);
+        //                         MarkNuclei(visitedNuclei, synapse_nucleus);
-                        }
+        //                 }
-                    }
+        //             }
-                    neuron.synapses.RemoveAll(synapse => visitedSynapses.Contains(synapse) == false);
+        //             neuron.synapses.RemoveAll(synapse => visitedSynapses.Contains(synapse) == false);
-                }
+        //         }
-                if (neuron.receivers != null) {
+        //         if (neuron.receivers != null) {
-                    HashSet<Nucleus> visitedReceivers = new();
+        //             HashSet<Nucleus> visitedReceivers = new();
-                    foreach (Nucleus receiver in neuron.receivers) {
+        //             foreach (Nucleus receiver in neuron.receivers) {
-                        if (receiver != null && receiver != null) {
+        //                 if (receiver != null && receiver != null) {
-                            visitedReceivers.Add(receiver);
+        //                     visitedReceivers.Add(receiver);
-                            visitedNuclei.Add(receiver);
+        //                     visitedNuclei.Add(receiver);
-                        }
+        //                 }
-                    }
+        //             }
-                    neuron.receivers.RemoveAll(receiver => visitedReceivers.Contains(receiver) == false);
+        //             neuron.receivers.RemoveAll(receiver => visitedReceivers.Contains(receiver) == false);
-                }
+        //         }
-            }
+        //     }
-        }
+        // }
 
         // public virtual void UpdateNuclei() {
         //     foreach (Nucleus nucleus in this.nuclei)

Runtime/Scripts/Ant.cs

@@ -51,7 +51,7 @@ namespace CreatureControl {
         public Neuron foodReceptor;
         public Neuron homeReceptor;
 
-        public Vector3 linearVelocity = Vector3.forward;
+        public Vector3 linearVelocity; // = Vector3.forward;
         public Vector3 angularVelocity;
 
         #region Init
@@ -124,7 +124,7 @@ namespace CreatureControl {
         public override void Update() {
             base.Update();
 
-            UpdateSmell();
+            //UpdateSmell();
             UpdateMovement();
         }
 

Samples/Brain/New Cluster Prefab.asset

@@ -19,23 +19,25 @@ MonoBehaviour:
     prefab: {fileID: 11400000}
     instanceCount: 1
     nuclei:
-    - rid: 4201949831649034317
+    - rid: 4201949831649034325
-    - rid: 4201949831649034319
+    - rid: 4201949831649034327
+    - rid: 4201949831649034328
+    - rid: 4201949831649034329
   references:
     version: 2
     RefIds:
     - rid: -2
       type: {class: , ns: , asm: }
-    - rid: 4201949831649034317
+    - rid: 4201949831649034325
       type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
       data:
         name: Output
         parent:
-          rid: 4201949831649034318
+          rid: 4201949831649034326
-        bias: {x: 0, y: 0, z: 0}
+        bias: {x: 0, y: 0, z: 1}
         _synapses:
         - neuron:
-            rid: 4201949831649034319
+            rid: 4201949831649034327
           weight: 1
         combinator: 0
         _curvePreset: 0
@@ -66,7 +68,7 @@ MonoBehaviour:
         curveMax: 1
         trace: 0
         _receivers: []
-    - rid: 4201949831649034318
+    - rid: 4201949831649034326
       type: {class: Cluster, ns: NanoBrain, asm: Assembly-CSharp}
       data:
         name: New Cluster Prefab
@@ -75,14 +77,60 @@ MonoBehaviour:
         prefab: {fileID: 11400000}
         instanceCount: 1
         nuclei:
-        - rid: 4201949831649034317
+        - rid: 4201949831649034325
-        - rid: 4201949831649034319
+        - rid: 4201949831649034327
-    - rid: 4201949831649034319
+        - rid: 4201949831649034328
+        - rid: 4201949831649034329
+    - rid: 4201949831649034327
       type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
       data:
-        name: New Neuron
+        name: Collision
         parent:
-          rid: 4201949831649034318
+          rid: 4201949831649034326
+        bias: {x: 0, y: 0, z: 0}
+        _synapses:
+        - neuron:
+            rid: 4201949831649034328
+          weight: 1
+        - neuron:
+            rid: 4201949831649034329
+          weight: 1
+        combinator: 0
+        _curvePreset: 0
+        curve:
+          serializedVersion: 2
+          m_Curve:
+          - serializedVersion: 3
+            time: 0
+            value: 0
+            inSlope: 0
+            outSlope: 1
+            tangentMode: 0
+            weightedMode: 0
+            inWeight: 0
+            outWeight: 0
+          - serializedVersion: 3
+            time: 1000
+            value: 1000
+            inSlope: 1
+            outSlope: 0
+            tangentMode: 0
+            weightedMode: 0
+            inWeight: 0
+            outWeight: 0
+          m_PreInfinity: 2
+          m_PostInfinity: 2
+          m_RotationOrder: 4
+        curveMax: 1
+        trace: 0
+        _receivers:
+        - rid: 4201949831649034325
+    - rid: 4201949831649034328
+      type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
+      data:
+        name: Hit Left
+        parent:
+          rid: 4201949831649034326
         bias: {x: 0, y: 0, z: 0}
         _synapses: []
         combinator: 0
@@ -114,4 +162,42 @@ MonoBehaviour:
         curveMax: 1
         trace: 0
         _receivers:
-        - rid: 4201949831649034317
+        - rid: 4201949831649034327
+    - rid: 4201949831649034329
+      type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
+      data:
+        name: Hit Right
+        parent:
+          rid: 4201949831649034326
+        bias: {x: 0, y: 0, z: 0}
+        _synapses: []
+        combinator: 0
+        _curvePreset: 0
+        curve:
+          serializedVersion: 2
+          m_Curve:
+          - serializedVersion: 3
+            time: 0
+            value: 0
+            inSlope: 0
+            outSlope: 1
+            tangentMode: 0
+            weightedMode: 0
+            inWeight: 0
+            outWeight: 0
+          - serializedVersion: 3
+            time: 1000
+            value: 1000
+            inSlope: 1
+            outSlope: 0
+            tangentMode: 0
+            weightedMode: 0
+            inWeight: 0
+            outWeight: 0
+          m_PreInfinity: 2
+          m_PostInfinity: 2
+          m_RotationOrder: 4
+        curveMax: 1
+        trace: 0
+        _receivers:
+        - rid: 4201949831649034327

Samples/Foraging.unity

@@ -5243,6 +5243,618 @@ PrefabInstance:
     serializedVersion: 3
     m_TransformParent: {fileID: 0}
     m_Modifications:
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+      objectReference: {fileID: 0}
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+      propertyPath: m_LocalPosition.z
+      value: 0.0061656996
+      objectReference: {fileID: 0}
+    - target: {fileID: 695389755773980816, guid: 49b4f3c47b71346f2be821320af94de8, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 0.9162944
+      objectReference: {fileID: 0}
+    - target: {fileID: 695389755773980816, guid: 49b4f3c47b71346f2be821320af94de8, type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0.21589416
+      objectReference: {fileID: 0}
+    - target: {fileID: 695389755773980816, guid: 49b4f3c47b71346f2be821320af94de8, type: 3}
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+      value: -0.32834327
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+      value: 0
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